A local geopotential model for implementation of underwater passive navigation

Wang, Zhigang; Bian, Shaofeng

doi:10.1016/j.pnsc.2008.02.011

Cited by 18 publications

(9 citation statements)

References 7 publications

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“…The resolution and accuracy of such data are closely related to the location determination success rate and accuracy of matching-aided navigation. At present, the marine gravity anomaly reference map is one of the most important background fields in geophysical-aided navigation [ 11 , 12 , 13 ].…”

Section: Introductionmentioning

confidence: 99%

Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation

Wang

Chai

et al. 2017

Sensors

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The variation of a marine gravity anomaly reference map is one of the important factors that affect the location accuracy of INS/Gravity integrated navigation systems in underwater navigation. In this study, based on marine gravity anomaly reference maps, new characteristic parameters of the gravity anomaly were constructed. Those characteristic values were calculated for 13 zones (105°–145° E, 0°–40° N) in the Western Pacific area, and simulation experiments of gravity matching-aided navigation were run. The influence of gravity variations on the accuracy of gravity matching-aided navigation was analyzed, and location accuracy of gravity matching in different zones was determined. Studies indicate that the new parameters may better characterize the marine gravity anomaly. Given the precision of current gravimeters and the resolution and accuracy of reference maps, the location accuracy of gravity matching in China’s Western Pacific area is ~1.0–4.0 nautical miles (n miles). In particular, accuracy in regions around the South China Sea and Sulu Sea was the highest, better than 1.5 n miles. The gravity characteristic parameters identified herein and characteristic values calculated in various zones provide a reference for the selection of navigation area and planning of sailing routes under conditions requiring certain navigational accuracy.

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Section: Introductionmentioning

confidence: 99%

Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation

Wang

Chai

et al. 2017

Sensors

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“…So it is of strategic significance to aid INS using GMN. In fact, GMN aided INS has been widely studied recently; see, for example, [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

Liu

Chang²

2015

Mathematical Problems in Engineering

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This paper is concerned with the topic of gravity matching aided inertial navigation technology using Kalman filter. The dynamic state space model for Kalman filter is constructed as follows: the error equation of the inertial navigation system is employed as the process equation while the local gravity model based on 9-point surface interpolation is employed as the observation equation. The unscented Kalman filter is employed to address the nonlinearity of the observation equation. The filter is refined in two ways as follows. The marginalization technique is employed to explore the conditionally linear substructure to reduce the computational load; specifically, the number of the needed sigma points is reduced from 15 to 5 after this technique is used. A robust technique based on Chi-square test is employed to make the filter insensitive to the uncertainties in the above constructed observation model. Numerical simulation is carried out, and the efficacy of the proposed method is validated by the simulation results.

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“…The ICCP (Cheng et al, 2009; Garner, 2002; Zhao et al, 2009) is a sequence iterative matching algorithm, producing a matching path to correct the INS output path only after getting enough samples, which makes its real-time quality poor. SITAN (Wang and Bian, 2008; Liu et al, 2011; Larry and Ronald, 1983) is a real-time matching algorithm, but the position errors it requires are too small.…”

Section: Introductionmentioning

confidence: 99%

A Triangle Matching Algorithm for Gravity-aided Navigation for Underwater Vehicles

2013

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In this paper, a triangle matching algorithm using local gravity field maps is proposed to bound the drift errors inherent in Strapdown Inertial Navigation Systems (SINS) in gravity-aided navigation. This triangle matching algorithm has two main stages, the first is the initial matching stage, which has a coarse phase and a fine phase to address the large unknown initial errors made by INS, and the other is the tracking matching stage, which mainly aims at tracking the matching solution with the vehicle running in real time. Simulations were carried out using data for the Bohai Sea and South China Sea areas, to assess the effects of different initial errors on the matching solutions. Finally some experiments were carried out to evaluate the proposed algorithm. The results show that the triangle matching algorithm has some compelling advantages, such as a capability to address the large unknown initial errors made by INS, and good real-time quality of matching the gravity measurements with the local gravity maps.

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A local geopotential model for implementation of underwater passive navigation

Cited by 18 publications

References 7 publications

Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation

Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation

Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

A Triangle Matching Algorithm for Gravity-aided Navigation for Underwater Vehicles

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